Abstract
I have been trying to induce a biped robot with medium walking speed by using neural oscillators, based on the biological inspired system for a Quadruped walking robot "Tekken". I design the mechanical system and the neural system consisting of neural oscillators, responses and PD-controller. In this paper, I show a new inverted pendulum type biped robot. The biped robot is successful in simple dynamic walking on the flat terrain. My goal is developing a biped robot with high energy efficiency and high adaptability to environment.
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